Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: fix thrust_loss check angle check 

angle deviation corrected to 15deg and based on total lean angle instead of roll and pitch separately
fixed compile error on send_text
This commit is contained in:
Randy Mackay 2018-09-11 14:58:17 +09:00
parent 7a43a21784
commit 0cf2850593
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduCopter/crash_check.cpp
View File

@ -7,7 +7,7 @@
// Code to detect a thrust loss main ArduCopter code
#define THRUST_LOSS_CHECK_TRIGGER_SEC 1 // 1 second decent while level and high throttle indictes thrust loss
#define THRUST_LOSS_CHECK_ANGLE_DEVIATION_CD 150 // we can't expect to maintain altitude beyond 15 degrees on all aircraft
#define THRUST_LOSS_CHECK_ANGLE_DEVIATION_CD 1500 // we can't expect to maintain altitude beyond 15 degrees on all aircraft
#define THRUST_LOSS_CHECK_MINIMUM_THROTTLE 0.9f // we can expect to maintain altitude above 90 % throttle
// crash_check - disarms motors if a crash has been detected
@ -76,8 +76,8 @@ void Copter::thrust_loss_check()
// check for desired angle over 15 degrees
// todo: add thrust angle to AC_AttitudeControl
const Vector3f angle_target = attitude_control->get_att_target_euler_cd();
if ((fabsf(angle_target.x) > THRUST_LOSS_CHECK_ANGLE_DEVIATION_CD) || (fabsf(angle_target.y) > THRUST_LOSS_CHECK_ANGLE_DEVIATION_CD)) {
const Vector3f angle_target = attitude_control->get_att_target_euler_cd();
if (safe_sqrt(sq(angle_target.x) + sq(angle_target.y)) > THRUST_LOSS_CHECK_ANGLE_DEVIATION_CD) {
thrust_loss_counter = 0;
return;
}
@ -108,7 +108,7 @@ void Copter::thrust_loss_check()
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_THRUST_LOSS_CHECK, ERROR_CODE_FAILSAFE_OCCURRED);
// send message to gcs
gcs_send_text_fmt(MAV_SEVERITY_EMERGENCY, "Potential Thrust Loss (%d)", (int)motors->get_lost_motor() + 1);
gcs().send_text(MAV_SEVERITY_EMERGENCY, "Potential Thrust Loss (%d)", (int)motors->get_lost_motor() + 1);
// enable thrust loss handling
motors->set_thrust_boost(true);
}